JPH0666682A - Control method for brake dynamo system - Google Patents

Control method for brake dynamo system

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Publication number
JPH0666682A
JPH0666682A JP4222393A JP22239392A JPH0666682A JP H0666682 A JPH0666682 A JP H0666682A JP 4222393 A JP4222393 A JP 4222393A JP 22239392 A JP22239392 A JP 22239392A JP H0666682 A JPH0666682 A JP H0666682A
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Japan
Prior art keywords
torque
waveform
coefficient
circuit
hydraulic
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JP4222393A
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Japanese (ja)
Inventor
Masahiko Suzuki
雅彦 鈴木
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Meidensha Corp
株式会社明電舎
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Application filed by Meidensha Corp, 株式会社明電舎 filed Critical Meidensha Corp
Priority to JP4222393A priority Critical patent/JPH0666682A/en
Publication of JPH0666682A publication Critical patent/JPH0666682A/en
Application status is Pending legal-status Critical

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Abstract

PURPOSE:To eliminate overshoot or response lag by sustaining a feedforward value at an appropriate level through learning effect even upon the variation of brake conditions. CONSTITUTION:Positive and negative biases are applied, at the time of torque setting, through a primary lag function circuit to produce two decision waveforms A, B which are then compared, at a learning operating section, with a torque detection waveform TD and coefficient modification processing is not performed so long as the torque detection waveform TD does not deviate from the decision bands A and B. When the waveform TD exceeds the waveform A, a processing is performed to lower the coefficient of torque/hydraulic coefficient circuit in a brake hydraulic pressure control circuit depending on the excess area Sa and when the waveform TD deviates from the waveform B, a processing is performed to raise the coefficient depending on the excess area Sb. When the waveform TD deviates from both bands A and B, time constant of torque control circuit is altered depending on the excess area Sa+Sb. The processings of waveform monitoring, coefficient modification, and the like, are learned iteratively.

Description

【発明の詳細な説明】 DETAILED DESCRIPTION OF THE INVENTION

【0001】 [0001]

【産業上の利用分野】本発明は、自動車等のブレーキの性能試験を行うブレーキダイナモシステムの制御方法、 The present invention relates to a control method of a brake dynamometer system for the performance test of the brake, such as an automobile,
詳しくは、ブレーキダイナモシステムにおけるトルク/ Specifically, the torque in the brake dynamo system /
油圧係数の学習制御法に関する。 Of the hydraulic coefficient of learning control method.

【0002】 [0002]

【従来の技術】ブレーキダイナモシステムは図5に示すように、駆動用直流電動機1でフライホイール2を回転させ、取付軸3に取り付けられた供試ブレーキBKにブレーキをかけそのトルクをトルクメータ4で測定するようになっている。 BACKGROUND ART brake dynamometer system as shown in FIG. 5, by rotating the flywheel 2 by driving DC motor 1, a torque meter and the torque braking the test brake BK attached to the mounting shaft 3 4 in are adapted to measure.

【0003】図6はこの供試ブレーキのペダルを操作する油圧シリンダの制御回路を示す。 [0003] Figure 6 shows a control circuit of the hydraulic cylinder for operating the pedal of the test brake.

【0004】図6において、11はブレーキトルク設定値T Sとトルク検出信号T Dの偏差を積分増幅し油圧指令P Sを出力するトルクI制御回路、12はこの油圧指令P Sとブレーキ用油圧シリンダの油圧検出値P Dとの偏差を比例積分増幅する油圧PI制御回路。 [0004] In FIG. 6, 11 is a torque I control circuit for outputting a hydraulic pressure command P S and integrating amplifier a deviation brake torque setting T S and the torque detection signal T D, 12 are hydraulic this hydraulic pressure command P S and the brake hydraulic PI control circuit for proportional integral amplifying the difference between the pressure detected value P D of the cylinder.

【0005】13はトルク設定値T Sが入力するトルク/油圧係数回路で、この回路の係数はカットアンドドライ方式で決定される。 [0005] 13 in the torque / hydraulic coefficient circuit for inputting the torque set value T S, the coefficient of the circuit is determined by the cut-and-dry method. 14はトルク/油圧係数回路13 14 torque / hydraulic coefficient circuit 13
の出力が入力しフィードフォワード値を出力する油圧/ Hydraulic pressure output is output to the input feed-forward value /
ストローク関数回路で、この回路の関数は運転前に予め測定して求めたものを使用する。 Stroke function circuit, the function of this circuit is used which was obtained by previously measured before operation.

【0006】15は油圧PI制御回路12の出力に油圧/ストローク関数回路14のフィードフォワード値を加算しブレーキ用油圧シリンダのストロークを制御するストローク制御回路である。 [0006] 15 is a stroke control circuit for controlling the stroke of adding the feedforward value of the hydraulic / stroke function circuit 14 to the output of the hydraulic PI control circuit 12 a hydraulic cylinder for braking.

【0007】このストローク制御回路は、フィードバックによるストローク制御回路(11,12,15)によりブレーキトルク制御を行っていた応答を高速化するためにフィードフォワード制御回路(13,14)を用い油圧−ストロークの関係を事前に測定し設定しながらフィードフォワード値をストローク制御回路に入力して油圧シリンダのストローク制御を行っている。 [0007] The stroke control circuit, a hydraulic using feedforward control circuit (13, 14) in order to speed up the response has been performed a brake torque controlled by stroke control circuit (11, 12, 15) by the feedback - Stroke doing the stroke control of the hydraulic cylinder by entering the feedforward value to the stroke controller, while measuring the relationship preset.

【0008】 [0008]

【発明が解決しようとする課題】しかし、上記ストローク制御では、運転中のブレーキのパッド面の温度変化及びパッド等の摩耗による材質変化で、トルク/油圧係数が変化してしまうため、フィードフォワード値が状況によっては適正な値とならず、オーバーシュート或は応答遅れ等が発生していた。 [0006] However, in the above stroke control, a material change due to wear of the temperature change and pads of the pad surface of the brake during operation, the torque / pressure coefficient is changed, the feedforward value but not an appropriate value depending on the circumstances, the overshoot or the response delay, etc. has occurred.

【0009】本発明は、従来のこのような問題点に鑑みてなされたものであり、その目的とするところは、ブレーキの状態が変化しても学習効果によりフィードフォワード値を適正な値に保ち、オーバーシュート,応答遅れ等が発生することがないブレーキダイナモシステムの制御方法を提供することにある。 [0009] The present invention has been made in view of such a conventional problem, and has as its object to keep the feed-forward value to a proper value by also learning effect of braking is changed is to provide an overshoot, the control method of the braking dynamo system is not the response delay or the like occurs.

【0010】 [0010]

【課題を解決するための手段及び作用】トルク制御回路,油圧制御回路,ストローク制御回路からなるフィードバック制御回路にトルク/油圧係数回路,油圧/ストローク関数回路からなるフィードフォワード制御回路を設けてなるブレーキダイナモメータのブレーキ用油圧シリンダの制御回路において、トルク設定が入力する一次遅れ関数回路とこの回路の信号に正負のバイアスを加えて2つの判定波形を出力するバイアス回路及びこの2つの判定波形とトルク検出波形が入力する学習演算部を設け、学習演算部において、前記2つの判定波形とトルク検出波形とを比較し、トルク検出波形が2つの判定波形のバンド内にあるか否かの波形監視を行い、トルク検出波形が前記バンド内にあるときは係数変更なしの処理をし、トルク検出波形 Means for Solving the Problems and operation torque control circuit, the hydraulic control circuit, the feedback control circuit to the torque / hydraulic coefficient circuit composed of the stroke control circuit, provided with a feed-forward control circuit comprising a hydraulic / stroke function circuit brake in the control circuit of the hydraulic cylinder for the dynamometer brake, the bias circuit and the two determination waveform outputting a first-order lag function circuit and two determination waveforms by adding positive and negative bias to a signal of the circuit torque setting inputs and torque the learning calculation section is detected waveform inputs provided, the learning computation unit, the comparison between two determination waveform and the torque detected waveform, whether the waveform monitoring torque detected waveform is within the band of the two determination waveforms performed, the process without the coefficient changes when the torque detected waveform is within the band, the torque detection waveform 前記バンドからはみ出しているときは、バンドの上側及び下側のはみ出した面積を夫々測定し、はみ出しが上側か下側かの判断をし、はみ出しが上側のときはそのはみ出し面積に応じて前記トルク/油圧係数回路の係数を下げる処理をし、はみ出しが下側のときはそのはみ出し面積に応じて前記トルク/油圧係数回路の係数を上げる処理をし、この波形監視と係数の変更なし又は係数変更の処理を繰り返し行いトルク/油圧係数回路の係数を学習し、ブレーキの状態が変化してもフィードフォワード値を適正に保つ。 When protrudes from the band, the area protruding the upper and lower bands and each measurement, protruding to the determination whether the upper or lower side, said protrusion is in accordance with the protruding area when the upper torque / a process for lowering the coefficient of hydraulic coefficient circuit, protruding above the processing to increase the coefficient of the torque / hydraulic coefficient circuit, without the waveform monitoring and coefficient changing or coefficients changed according to the protruding area when the lower side processing learns the coefficient of repeated a torque / hydraulic coefficient circuit, properly maintain the feedforward value even if the state of the brake is changed.

【0011】また、トルク検出波形がバンドの両側にはみ出しているときは、その両はみ出し面積に応じてトルク制御回路の時定数を変更する処理を行いトルク検出波形の振動を防止する。 Further, the torque detection waveforms when protrudes on either side of the band, which prevent vibration of the processing carried out torque detection waveform for changing the time constant of the torque control circuit in accordance with the two protruding area.

【0012】 [0012]

【実施例】本発明の実施例を図面を参照して説明する。 EXAMPLES Examples of the present invention will be described with reference to the drawings.

【0013】図1は油圧シリンダ制御回路図、図2 [0013] Figure 1 is a hydraulic cylinder control circuit diagram, FIG. 2
(a)〜(c)は動作説明図、図3は制御学習演算部の処理フロー図、図4は学習フロー説明図である。 (A) ~ (c) are operation explanatory diagrams, Figure 3 is a process flow diagram of a control learning arithmetic unit, FIG 4 is a learning flow diagram. なお、 It should be noted that,
図1において従来図6に示したものと同一構成部分は、 Same components as those shown in prior art Figure 6 in Figure 1,
同一符号を付してその重複する説明を省略する。 Will not be described and repetitive denoted by the same reference numerals.

【0014】図1において、11′は時定数が変えうるように構成されたトルクI制御回路、13′はトルク/ [0014] In FIG. 1, 11 'torque is configured to time constant can alter I control circuit, 13' Torque /
油圧係数が変えうるように構成され、油圧/ストローク関数回路14に出力すると共にフィードフォワード値として油圧PI制御回路12を加えるトルク/油圧係数回路、16はブレーキトルク設定値T Sが入力する一次遅れ関数回路。 Is configured to hydraulic coefficient may change, the hydraulic pressure / stroke hydraulic PI Add control circuit 12 torque / hydraulic coefficient circuit as a feedforward value and outputs to the function circuit 14, 16 is first order lag braking torque setpoint T S inputs function circuit.

【0015】17及び18は一次遅れ関数回路の出力にバイアス+α及び−αを加え図2に示す曲線ABのようなバンドをもった判定波形を作成する加算器及び減算器、19は加算器17,18の判定波形A,B及びトルク検出値T Dが入力し、トルク/油圧係数回路13′の係数乃至トルクI制御回路11′の時定数の変更をオートチューニングで行う学習演算部である。 [0015] 17 and 18 adders and subtractors to create a determined waveform having a band such as curve AB shown in FIG. 2 added bias + alpha and -α to the output of the first-order lag function circuit, 19 adder 17 , 18 of the judgment waveform a, type B and the torque detection value T D is a learning computation unit for changing the time constant of the torque / hydraulic coefficient circuit 13 'coefficient to the torque I control circuit 11 of the' auto-tuning.

【0016】学習演算部19は、トルク検出波形T DがバンドA,B内にある場合はトルク/油圧係数回路1 The learning calculation section 19, the torque detection waveform T D band A, the torque / hydraulic coefficient circuit when within B 1
3′の係数が適正範囲内にあるとみて変更しない。 Coefficient of 3 'does not change look to be within the proper range.

【0017】トルク検出波形T Dが曲線Aを越えている場合は、この越えた部分の面積Saを測定し、面積Sa [0017] When the torque detected waveform T D exceeds the curve A, measuring the area Sa of the exceeding portion, area Sa
に応じた量のトルク/油圧係数を導き出す。 Deriving the amount of torque / hydraulic coefficient corresponding to. 面積Sa量とトルク/油圧係数の関数は線形でないので、実験により得られたテーブルを利用し、その間は補完を行いトルク/油圧係数回路13′の係数の変更を行う。 Since the function of the area Sa amount and the torque / hydraulic coefficient not linear, using a table obtained by an experiment, during which changes the coefficient of perform complementary torque / hydraulic coefficient circuit 13 '.

【0018】トルク検出波形T Dが曲線Bの下側にはみ出している場合は、このはみ出した部分の面積Sbを測定し、面積Sbに応じた量のトルク/油圧係数を導き出し、前記同様テーブルを利用して係数を変更する。 [0018] When the torque detected waveform T D is overrunning the lower side of the curve B, the area Sb of the protruding portion measured to derive a torque / pressure coefficients in an amount corresponding to the area Sb, the same table to change the coefficient using.

【0019】また、トルク検出信号T Dが振動し、図(c)に示すように、バンドA,Bの両側にはみ出している場合は、トルクI制御回路11′の時定数が合わないためであるので、はみ出した面積Sa+Sbの値に応じた時定数を変える。 Further, the vibration torque detection signal T D, as shown in FIG. (C), the band A, if protrudes on either side of B, and because does not match the time constant of the torque I control circuit 11 ' since, changing the time constant corresponding to the value of the protruding area Sa + Sb.

【0020】上記学習演算部19における波形の監視及び係数変更は図3に示すフローにより行い、係数変更のクラブが立った場合のみ係数の変更を行う。 [0020] Monitoring and coefficient changing the waveform in the learning calculation section 19 performs the flow shown in FIG. 3, and changes the coefficient only when the club coefficient changing stood.

【0021】図3について学習演算部19の処理について説明する。 [0021] The Figure 3 for processing the learning computation unit 19 will be described.

【0022】先ず、判定波形A,Bとトルク検出波形T [0022] First, determine the waveform A, B and the torque detected waveform T
Dの比較を行いバンドA,B内に検出波形T Dがあるか否かを判定する(S1,S2)。 D band A makes a comparison to determine whether there is a detected waveform T D in B (S1, S2). バンドA,B内にあると判定されたら係数変更なしとして処理を終わる(S Band A, and processing ends as no decision is If the coefficient change to be within the B (S
3)。 3).

【0023】バンドA,B内にないと判定されたらバンドA,Bの両側に検出波形T Dがはみ出しているか否かを面積Sa,Sbが共にあるかないかで判定する(S [0023] determines the band A, if it is determined not within B-band A, whether the area Sa on both sides on the detected waveform T D and B are protruded in either Sb or not there are both (S
4)。 4). 両側にはみ出しているときは、面積Sa+Sbに応じて時定数可変の処理を行いトルクI制御回路11′ When protrudes on both sides, the torque I control circuit 11 performs processing variable time constant according to the area Sa + Sb '
の時定数を変更する(S5,S6)。 To change the time constant of (S5, S6).

【0024】両側にはみ出していないときは曲線Aを越えているか否かを面積Saのみがあるか否かで判定する(S6)。 [0024] When not protrude on both sides checked by whether whether exceeds the curve A is only area Sa (S6). 曲線を越えていないと判定されたら面積Sb If it is determined that does not exceed the curve area Sb
に応じたトルク/油圧係数をアップする処理を行いトルク/油圧係数回路13′の係数を変更する(S7,S To change the coefficients of the torque / pressure coefficient up processing performed torque / hydraulic coefficient circuit 13 'corresponding to (S7, S
9)。 9).

【0025】曲線を越えていると判定されたら面積Sa [0025] If it is determined that beyond the curve area Sa
に応じたトルク/油圧係数をダウンする処理を行いトルク/油圧係数回路13′の係数を変更する。 To change the coefficients of the torque / hydraulic coefficient circuit 13 'performs a process of down-torque / pressure coefficients according to.

【0026】以上の処理を図4に示すように、繰り返し行い学習することによりブレーキトルク/油圧係数回路13′の係数及びトルクI制御回路11′の時定数をブレーキの状態に応じた適正なものにすることができる。 As shown in the above process 4 a, the appropriate one corresponding to the time constant of 'coefficients and a torque I control circuit 11' of the brake torque / hydraulic coefficient circuit 13 to the state of the brake by repeatedly performs learning it can be.
このため、オーバーシュート或は応答遅れ等のないブレーキ試験が可能となる。 Therefore, it is possible to brake testing without overshoot or response delay or the like.

【0027】 [0027]

【発明の効果】本発明は、上述のとおり構成されているので、次に記載する効果を奏する。 According to the present invention, which is configured as described above, the effect which will be described.

【0028】(1)ブレーキの状態が変化しても学習効果により常に一定のトルク検出波形が得られる。 [0028] (1) always obtained a constant torque detection waveform by also learning effect of braking is changed.

【0029】(2)ブレーキの種類を変更しても一定のトルク検出波形が得られる。 [0029] (2) a constant torque detection waveform also change the type of brake is obtained.

【0030】(3)学習の判定にバンドをいれているためトルク検出波形がバンド内に収束し易い。 [0030] (3) torque detected waveform because it put bands to determine the learning converges in the band easily.

【0031】(4)トルク検出波形のバンドをはみ出した面積によって係数変更の判定をしているのでノイズの影響を受けない。 [0031] (4) free of noise since the determination of the coefficients changed by the area protruding band of the torque detection waveform.

【0032】(5)回路構成が容易である。 [0032] (5) circuit configuration is easy.

【図面の簡単な説明】 BRIEF DESCRIPTION OF THE DRAWINGS

【図1】実施例にかかるブレーキ用油圧シリンダの制御回路を示すブロック回路図。 1 is a block circuit diagram showing a control circuit of the hydraulic cylinder for the brake according to the embodiment.

【図2】(a)〜(c)は波形監視方法の説明図。 Figure 2 (a) ~ (c) is an explanatory view of a waveform monitoring methods.

【図3】学習演算部の処理フロー図。 [3] a process flow diagram of a learning calculation section.

【図4】ブレーキ制御学習フロー図。 [Figure 4] brake control learning flow diagram.

【図5】シングルブレーキダイナモの構成説明図。 FIG. 5 is a diagram illustrating the configuration of a single brake dynamo.

【図6】従来例にかかるブレーキ用油圧シリンダの制御回路を示すブロック回路図。 FIG. 6 is a block circuit diagram showing a control circuit of according to the conventional example hydraulic cylinders for braking.

【符号の説明】 DESCRIPTION OF SYMBOLS

1…直流電動機 2…フライホイール 3…取付軸 4…トルクメータ 11,11′…トルクI制御回路 12…油圧PI制御回路 13,13′…トルク/油圧係数回路 14…油圧/ストローク関数回路 15…ストローク制御回路 16…一次遅れ関数回路 17…加算器 18…減算器 19…学習演算部 BK…ブレーキ 1 ... DC motor 2 ... flywheel 3 ... mounting shaft 4 ... torque meter 11, 11 '... Torque I control circuit 12 ... hydraulic PI control circuit 13, 13' ... torque / hydraulic coefficient circuit 14 ... hydraulic / stroke function circuit 15 ... stroke control circuit 16 ... first-order lag function circuit 17 ... adder 18 ... subtractor 19 ... the learning computation unit BK ... brake

Claims (2)

    【特許請求の範囲】 [The claims]
  1. 【請求項1】 トルク制御回路,油圧制御回路,ストローク制御回路からなるフィードバック制御回路にトルク/油圧係数回路,油圧/ストローク関数回路からなるフィードフォワード制御回路を設けてなるブレーキダイナモメータのブレーキ用油圧シリンダの制御回路において、 トルク設定が入力する一次遅れ関数回路とこの回路の信号に正負のバイアスを加えて2つの判定波形を出力するバイアス回路及びこの2つの判定波形とトルク検出波形が入力する学習演算部を設け、 学習演算部において、前記2つの判定波形とトルク検出波形とを比較し、トルク検出波形が2つの判定波形のバンド内にあるか否かの波形監視を行い、 トルク検出波形が前記バンド内にあるときは係数変更なしの処理をし、 トルク検出波形が前記バンドからはみ 1. A torque control circuit, the hydraulic control circuit, the stroke control consisting circuit feedback control circuit to the torque / hydraulic coefficient circuits, hydraulic / stroke consisting function circuit feedforward control circuit hydraulic braking of the brake dynamometer formed by providing a in the control circuit of the cylinder, learning bias circuit and the two determination waveform and the torque detected waveform and outputs a first-order lag function circuit and two determination waveform signal by adding positive and negative bias of the circuit torque setting is inputted to the input an arithmetic unit is provided, in the learning computation unit, wherein comparing the two determined waveform and the torque detected waveform performed whether the waveform monitoring torque detected waveform is within the band of the two determination waveforms, torque detected waveform It was treated without factor changes when in the band, the torque detection waveform the band Karahami しているときは、バンドの上側及び下側のはみ出した面積を夫々測定し、はみ出しが上側か下側かの判断をし、 はみ出しが上側のときはそのはみ出し面積に応じて前記トルク/油圧係数回路の係数を下げる処理をし、 はみ出しが下側のときはそのはみ出し面積に応じて前記トルク/油圧係数回路の係数を上げる処理をし、 この波形監視と係数の変更なし又は係数変更の処理を繰り返し行いトルク/油圧係数回路の係数を学習しながらブレーキテストすることを特徴としたブレーキダイナモシステムの制御方法。 And when is, the overrunning area of ​​the upper and lower bands and each measurement, protruding to the upper or the lower of judgment, protruding said torque / hydraulic coefficient in accordance with the protruding area when the upper and a process of lowering the coefficient of the circuit, protruding to the process of increasing the coefficient of the torque / hydraulic coefficient circuit in accordance with the protruding area when the lower side, the processing of the waveform monitoring and no coefficient change or coefficient change control method for a brake dynamo system, characterized in that the brake test while learning coefficient of the torque / hydraulic coefficient circuit repeatedly.
  2. 【請求項2】 トルク検出波形のバンドからのはみ出しが両側にあるときはその両はみ出し面積に応じて前記トルク制御回路の時定数を変更する処理をすることを特徴とした請求項1記載のブレーキダイナモシステムの制御方法。 2. A brake of the protrusion is claim 1 wherein characterized in that the process for changing the time constant of the torque control circuit in accordance with the two protruding area when on both sides from the band of the torque detection waveform the method of dynamo system.
JP4222393A 1992-08-21 1992-08-21 Control method for brake dynamo system Pending JPH0666682A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP4222393A JPH0666682A (en) 1992-08-21 1992-08-21 Control method for brake dynamo system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP4222393A JPH0666682A (en) 1992-08-21 1992-08-21 Control method for brake dynamo system

Publications (1)

Publication Number Publication Date
JPH0666682A true JPH0666682A (en) 1994-03-11

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
JP4222393A Pending JPH0666682A (en) 1992-08-21 1992-08-21 Control method for brake dynamo system

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Country Link
JP (1) JPH0666682A (en)

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US9254243B2 (en) 2011-03-31 2016-02-09 Panasonic Corporation Drug transferring needle and drug transferring method
US9895291B2 (en) 2011-08-18 2018-02-20 Icu Medical, Inc. Pressure-regulating vial adaptors
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